I did it like that (but wouldn't bet on anything)
# connmand #to start the service, servie connman start or etc/init.d/conman start would be the same
$ conman-ui-gtk
(you have to install connman-ui for that, but it is started with -gtk at the end).
Then it opened in the systray (similar to network-manager of gnome, if i understand that correct).
I entered an SSID and a password, and it didn't connect ....
(my point was not to ask how to get that sorted, then i'd have asked in the questions section, i will stick to wicd until the masses move and explain to me ....

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Some dudes in IRC told me about other disadvantages of wicd (but i neither understood nor can repeat, and my main problem there was in fact the driver not compiled in the kernel, similar to what Richard spoke about).
There are online how-to's about connman, one at the ubuntu wiki (they don't really go into detail, though).
It might (!) be an option for the distant future (lean, only a few dependencies, etc). Not something like: Oh, wow, cool, you _must try this. So really just a small hint.
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Thanks for the info bout wicd (as it's the only gui i understand i was scared a wee bit. As long wicd is there i will probably use it ...).